EP0712097A2 - Méthode et système pour manipuler des unités de mouvement pour animation de figure articulée par calculateur - Google Patents

Méthode et système pour manipuler des unités de mouvement pour animation de figure articulée par calculateur Download PDF

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Publication number
EP0712097A2
EP0712097A2 EP95117529A EP95117529A EP0712097A2 EP 0712097 A2 EP0712097 A2 EP 0712097A2 EP 95117529 A EP95117529 A EP 95117529A EP 95117529 A EP95117529 A EP 95117529A EP 0712097 A2 EP0712097 A2 EP 0712097A2
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EP
European Patent Office
Prior art keywords
motion
articulated
frame
units
motion units
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Withdrawn
Application number
EP95117529A
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German (de)
English (en)
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EP0712097A3 (fr
Inventor
Douglas Eric Dow
Kazuhiko Inada
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Panasonic Holdings Corp
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Matsushita Electric Industrial Co Ltd
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Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Publication of EP0712097A2 publication Critical patent/EP0712097A2/fr
Publication of EP0712097A3 publication Critical patent/EP0712097A3/xx
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T13/00—Animation
    • G06T13/20—3D [Three Dimensional] animation
    • G06T13/40—3D [Three Dimensional] animation of characters, e.g. humans, animals or virtual beings

Definitions

  • the present invention relates to the field of computer graphics, specifically to articulated figure (AF) animation.
  • This invention is a method and a system to manipulate and mix previously stored Motion Units for computer AF animation.
  • the user directs the movement of the AF by selecting previously generated and stored Motion Units.
  • those Motion Units are combined in a weighted average with all the Motion Units that the user has selected to be currently running.
  • PCs personal computers
  • video game machines These are capable of doing 3D graphics such as articulated figure (AF) animation.
  • AF animation articulated figure
  • traditional research and approaches to computer AF animation has focused on the Animator. That is, they are focused on helping a professional Animator make some AF animation for a video or film that he/she is making.
  • the user can now direct the AF animation; however, the above mentioned Animator-based algorithms are too computationally expensive.
  • a professional Animator making a film can work off-line.
  • the Animation does not have to be generated in real-time, and it does not have to be interactive.
  • the Animator can develop each frame of the animation, taking just as much time as is necessary, then store the frame onto a storage medium. Later, all the stored frames can be played back rapidly at video speeds.
  • interactive applications such as games or educational software, must generate the 3D user-directed AF animation at, or close to, real-time.
  • the methods and systems constituting the invention are aimed at the interactive game or educational applications which could use computer AF animation.
  • Motion Units These Motion Units (MUs) define the articulated figure's orientation (joint rotations) for each frame in an animation sequence.
  • the game or application creator uses separate methods (including rotoscopy, key frames, dynamics, and kinematics) to create an MU.
  • the algorithms of the invention manipulate and run the stored MUs as the game user directs.
  • the algorithms are simple and fast so as to not overburden these lower end machines (which are often required to generate one frame of video 30 times per second).
  • the motions that are created by manipulating and mixing the MUs are fairly smooth and natural looking. Above all, the user is in control.
  • the invention provides simple user-based algorithms which can rapidly manipulate previously scored MUs.
  • respective joints of the articulated figure have a parent-children relationship and can be expressed with a wooden structure.
  • the each joint has local coordinate systems, and the rotation angle of the XYZ axes in the local coodinate systems of the child joint becomes the joint rotation, when the local coordinate systems of the parent joint is made to be a reference.
  • Motion Unit is an motion data of an articulated figure in an certain motion.
  • the motion data has, for example in case of walking motion, retains the joint rotations of respective joints for one cycle.
  • the motion transition means for example, the changing of the walking motion to punching motion.
  • Figs. 3(a)-(c)further describe the "interface" block in Fig. 1.
  • Various interfaces are possible for the user to input and possibly receive non-vision sensory feedback from the computer. Examples shown are a hands-oriented device in Fig. 3(a). This could be a keyboard, button pad, joystick, data glove, or other such hand input device.
  • Fig. 3(b) shows a legs-oriented input system where the position and movement of the feet, knees, and/or waist provides the input to the system.
  • Fig. 3(c) shows an example of a possible feet, hands, and head combination interactive control system.
  • Figs. 6(a)-(b) show one embodiment of the invention.
  • one human player controls the motion of one AF which is in the field of vision.
  • the motion control method is according to the invention.
  • Fig. 6(b) shows a human player being assisted by an AI program.
  • the human inputs high level goals and motion desires, and the AI program converts those high level goals into the low level Motion Unit (MU) selections that are then merged and mixed according to the invention.
  • MU Motion Unit
  • Figs. 7(a)-(b) show a further embodiment of the invention, involving multiple articulated figures in the field of vision.
  • one human player controls the motion of multiple AFs.
  • One example would be the player directing a sports team to accomplish some goal.
  • Fig. 7(b) shows the combination of a human player and an AI program in controlling multiple AFs.
  • the AI program would assist the human player in directing and controlling the movement of the multiple AFs.
  • the human player would direct the movement of a partial group of all the AFs, while the AI program (or AI programs) directs the movement of other AFs.
  • Figs. 8(a)-(c) show more combinations of the embodiments of the invention.
  • Fig. 8(a) shows multiple human players controlling multiple AFs. Either each player directs a different AF (or group of AFs), or multiple players work in unison as a team to control the motion of an AF (or group of AFs).
  • Fig. 8(b) shows an example of all the inputs being AI programs and not human players. An example of this might be a simulation of a group of people such as a military scenario, emergency scenario, human traffic flow at an airport simulation, or other such study in groups of AFs, where the AFs behavior is determined by the corresponding controlling AI programs.
  • Fig. 8 (c) shows an embodiment of the invention which uses a combination of human player (or players) and AI program (or AI programs) to control multiple AFs.
  • Figs. 9(a)-(c) further describe the "computer" block in Fig. 1. From the player's input through the interface, motion is generated for the AF(s). Then the Geometric Engine of Fig. 9(b) creates the 3D shape, orientation, and surfaces of the AF(s). Then the Image Generator shown in Fig. 9(c)converts those said 3D descriptions from the Geometric Engine into a 2D image for display in the field of vision of Fig. 1.
  • Figs. 10 (a)-(d) show various embodiments of a joint in an articulated figure for the invention.
  • An articulated figure is a 3D shape described by the rotation at the joints.
  • Fig. 10(a) shows an example of two static segments which pivot on a common axis which is the joint.
  • Fig. 10(b) shows a ball-and-socket type joint. In this joint the segments can be oriented in any 3D rotation around the joint.
  • Fig. 10(c) shows an AF shape that could be in a computer-generated world, where the segments are separated and do not physically or graphically touch, yet they rotate at a joint.
  • Fig. 10(d) shows an example where the segments are not distinctly and separately defined; instead, the segments have merged into one, and the surface bends and rotates at the joint.
  • An example of Fig. 10(d) is the human elbow joint, upper arm, and lower arm.
  • Figs. 11(a)-(b) show two examples of the skeleton of joints for the AF which are manipulated by the algorithms of the invention.
  • the drawn figures in Fig. 11(a) and in Fig. 11(b) have a 3D surface which is not visible in the drawing.
  • Fig. 11 only shows the joints (round black dot) and the relation between the joints as represented by the line connecting the two joints.
  • the line can be considered to be similar to a skeleton of a human, or a frame, or segment-link of a robot.
  • Figs. 12(a)-(b) show two possible AF skeleton shapes that are different from any human-like shape.
  • a composite 3D shape which can be described by 3D rotations at joints connecting the limbs or segments is an AF that can be manipulated by the algorithms described in the invention.
  • Fig. 13 shows one example of an outer surface of an AF.
  • the joints and skeleton of the AF in Fig. 13 are similar to the ones shown in Fig. 11.
  • the AF in Fig. 13 is moving according to the motion algorithms of the invention.
  • Figs. 14(a)-(c) further show the details of the invention as seen in Fig. 1.
  • the "player” and “interface” are the same as that of Fig. 1.
  • a “player” interacts through the “interface” in Figure 14(a).
  • the "computer” receives the user's input which selects MU(s) to mix. These selected MU(s) are mixed in the "MU Mix Algorithm”. Then the resultant frame is rendered and displayed in the "Field of Vision” that can be seen by the player.
  • Fig. 14(b) shows the contents of the "MU Mix Algorithm" of Fig. 14(a).
  • MU(s) are selected by the player and added to the "Queue of MUs" that are concurrently running.
  • the MU(s) on the Queue are mixed in the "Mix” by a weighted average calculation. Then the resultant motion is smoothed.
  • the "computer" block of Fig. 1 is subdivided into the rest of this diagram, Fig. 14(c).
  • the overall application scenario is shown for the example of one player and one AF.
  • the player selects MUs from a database (library) containing multiple MUs.
  • An MU asynchronously selected by the player, enters the queue of concurrently running MUs.
  • those MUs are mixed and merged to produce a description of each joint rotation of the AF. This is repeated frame after frame in an animation.
  • the mixed motion can be further smoothed by a frame-to-frame smoothing technique described in the invention.
  • the resulting motion description is entered into the Geometric Engine of Fig. 9, and is later drawn in the field of vision.
  • Figs. 16(a)-(c) show three MUs being mixed according to the method of the invention to produce the resultant mixed MU motion for the AF.
  • the bend-elbow MU that has previously been stored in the MU Library of Fig. 14 has been selected by the player to run concurrently with the wag-head MU and the bend-knee MU (also from the said MU Library).
  • These motions are mixed by the weighted average calculation of the invention to produce the mixed MU shown at the bottom of Fig. 16(a).
  • Fig. 17 shows the file specification of an MU.
  • An MU consists of a series of data for frames, one frame after another to describe the animation of the AF.
  • Each of said frames consists of a long vector of rotation angles for each joint.
  • the stored rotation data for each joint consists of 3 angle values: ( ⁇ z , ⁇ x , ⁇ y ).
  • This data can form a sort of matrix as pictured in Fig. 17, where there is a series of frames (F), and each frame consists of a series of joint data (J).
  • Fig. 19 shows various embodiments of the ramp weights that are in the invention.
  • the initial frames of an MU have a lower weight
  • the middle frames of the MU have a relatively higher weight
  • the final frames have a lower weight.
  • the effect of these frame weight patterns is to enhance the smoothness of the transitions at the beginning and end of MUs so that the resulting mixed motion is smoother.
  • these said frame weights can be used to manipulate and stress important frames of the MU.
  • Fig. 20 shows another embodiment of the said frame weights (some of the other embodiments are shown in Fig. 19).
  • N m is the number of frames in the MU to which this frame weight pattern is applied.
  • N r is the number of frames that linearly increment up from the low weight to the higher weight. The converse is true for the final N r number of frames in this said MU.
  • Fig. 21 shows an example of the invention mixing MUs.
  • a player has asynchronously selected the three MUs in Fig. 21: Kick MU first, then later the Punch MU, and later the Nod-Head MU.
  • Each of these said MUs has a frame weight pattern as seen in Fig. 20.
  • the said Kick MU's first frame is executed at time t a , while the last frame at time t b .
  • a continuously running Idle MU (jog MU) is always running.
  • This Idle MU has a comparatively low frame rate for all its frames, and it serves in this embodiment of the invention as a background motion for the AF to move according to when no other player-selected MUs are running. For example at time t o , the player has not selected any MU to run yet (the Kick MU starts later at time t a ), so the said Idle MU is the only MU running at time t o .
  • Fig. 22 shows a simulation of the fatigue that is possible in one embodiment of the invention.
  • a background MU similar to the above said Idle MU of Fig. 21 is added to the queue of running MUs.
  • tired fatigue
  • the weight of this looping tired MU increases from 0 to 1 causing the AF to behave more and more according to the tired MU motion.
  • the preferred embodiment of the invention is in an interactive computer graphics game involving one or more animated articular figures, or articulated figures, that are visible to the player and are controlled by the player.
  • the player asynchronously selects MU(s) for the articulated figure to do.
  • the algorithms specified by the invention mix the concurrently running MUs selected by the player.
  • the result of this mix calculation is the rotation of each joint for the next frame in the animation.
  • the articulated figure is positioned in that position (as specified by the calculated rotation angles) and rendered so that they are visible to the players.
  • the articulated figures are made visible by displaying them on a video monitor(s) that is (are) visible to the player.
  • Another embodiment of the invention can be a simulation of one or more articulated figures.
  • the purpose would be to make an animation of articulated figures moving or to simulate some behavior of articulated figures as determined by some behavior or artificial intelligence (AI) algorithm that selects MU(s) for the articulated figures.
  • AI artificial intelligence
  • Another embodiment of the invention is the controlling of the motion of articulated figures in a Virtual Reality (VR) application.
  • Either humans or software modules (AI Program Agent in Fig. 2) select the next MU for the articulated "figure to start doing.
  • Fig. 15 indicate some of the different techniques that have been developed to make realistic looking human motion. These methods have been developed and used by many researchers, and some are even commercially available.
  • the motion generating methods include rotoscopy (described in Kunii T.L., Sun L., "Dynamic Analysis-Based Human Animation", Proc. Computer Graphics International '90 (CGI '90), Singapore, 1990, pp. 3-15; Unuma M., Takeuchi R., "Generation of Human Motion with Emotion", Proc. Computer Animation '91, Geneva, Switzerland, Springer-Verlag, 1991, pp.
  • any other method that has been developed in computer human animation research is an appropriate method to generate an MU if the following condition is met.
  • the motion specified by the created MU must be of the form, or be able to be converted to the form, of the data structure shown in Fig. 17. That is, the motion is specified frame by frame.
  • Each frame is specified by a series of angles that represent the rotation of each of the rotatable joints of the articulated figure.
  • the specification of an angle joint consists of three angle rotations.
  • any scheme of joint specification is covered by the methodology of the invention so long as a particular joint of the articulated figure is specified by an angle, or a series of angles, in a consistent way from frame to frame.
  • the angle's values must be of a type that can be manipulated by the mathematical equations shown in equation (1) (below) of the invention.
  • the player (of Fig. 1) is a human, but the player specified in the invention could also be a software or other electrical/mechanical entity that is simulating a human player's input to the interface and to the computer of Fig 1.
  • a software module could select, by its internal program, the next MU for the articulated figure to execute.
  • the "player” described in the invention can be a software program.
  • This software module that is the "player” is labeled "AI Program Agent" in Fig. 2, Fig. 6(b), Fig. 7(b), Fig. 8(b), and in Fig. 8(c).
  • the Field of Vision (of Fig. 1) displayed to the player (of Fig. 1) is a video monitor in the preferred embodiment of the invention.
  • other visual systems that are further embodiments of the invention include head mounted visual systems such as those used in Virtual Reality applications, as shown in Fig. 5.
  • Fig. 7(a) one human player controls a group of articulated figures.
  • This group and coordination could be a team such as a sports team.
  • the player selects MUs which instruct each articulated figure of the game how to move.
  • Fig. 7(b) the human player works in cooperation with an AI Program Agent to coordinate the movement of the multiple actions.
  • the human player could specify high level motions while the AI Program Agent specifies the lower level selection and timing of MUs to execute to stated high level motions as specified by the human player.
  • Another scenario would have the human player controlling one or one group of the articulated figures, while the AI Program Agent controls other articulated figures.
  • the two sets of articulated figures could be working in cooperation or competition.
  • the output data stream of the Geometric Engine is the output of the said third function of Fig. 9(b).
  • This can be considered to be a display list of 3D points representing the basic graphic primitives that will be drawn on the computer screen.
  • Such primitives include vertex points, line segments, polygon surfaces, and volume voxel density values.
  • the kick's weight of 1.0 is much bigger than the 0.1 weight of the other MUs. Therefore, of the three MUs to be mixed, the kick MU dominates leg joints.
  • the idle MU At the bottom of the priority list of running MUs is always the idle MU.
  • the idle would be a different type of motion.
  • a sports game might have the idle MU be a jog-in-place motion.
  • an animation explaining cooking or wood-working might have the idle MU describe a standing position with the hands held about 10 cm above the table top.
  • an additional frame to frame smoothing technique is optionally a part of the invention.
  • the motion mixer combines one or more frames in a weighted average calculation to produce this resultant frame. Even though this is a weight average of the joint weights, and phrasing control weights have been used to minimize the discontinuity at the start and end of MUs, there could still be some frame-to-frame discontinuity. Spline smoothing of animation frames could be used to smooth this.
  • the major goal of all the motion algorithms presented in the invention is to provide a fast way to allow user-based AF animation in low end platforms such as PCs or games. Therefore, in many cases, the discussion in this section about splines (to ensure continuity between frames) may be too slow a calculation for many platforms. If so, this step can be skipped.
  • the output of the weighted averages becomes the AF's orientation in that frame of the animation. Continuity is not ensured, but the phrasing control technique of priority ramp at the beginning and end of each MU helps to minimize sudden changes in the rotation of any joint in the body during transitions of MUs.

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EP95117529A 1994-11-10 1995-11-07 Méthode et système pour manipuler des unités de mouvement pour animation de figure articulée par calculateur Withdrawn EP0712097A2 (fr)

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EP0825560A3 (fr) * 1996-08-21 1999-01-27 Nippon Telegraph And Telephone Corporation Procédé pour la génération des animations
EP0825560A2 (fr) * 1996-08-21 1998-02-25 Nippon Telegraph And Telephone Corporation Procédé pour la génération des animations
US6104412A (en) * 1996-08-21 2000-08-15 Nippon Telegraph And Telephone Corporation Method for generating animations of a multi-articulated structure, recording medium having recorded thereon the same and animation generating apparatus using the same
US6070269A (en) * 1997-07-25 2000-06-06 Medialab Services S.A. Data-suit for real-time computer animation and virtual reality applications
US6380941B2 (en) 1997-08-01 2002-04-30 Matsushita Electric Industrial Co., Ltd. Motion data generation apparatus, motion data generation method, and motion data generation program storage medium
EP0895193A3 (fr) * 1997-08-01 1999-07-14 Matsushita Electric Industrial Co., Ltd. Appareil, méthode et moyen d'enregistrement pour la génération de données de mouvement
EP0895193A2 (fr) * 1997-08-01 1999-02-03 Matsushita Electric Industrial Co., Ltd. Appareil, méthode et moyen d'enregistrement pour la génération de données de mouvement
US6501477B2 (en) 1997-08-01 2002-12-31 Matsushita Electric Industrial Co., Ltd. Motion data generation apparatus, motion data generation method, and motion data generation program storage medium
CN101356549B (zh) * 2003-05-14 2012-01-04 皮克萨 用于生成对动画模型性态进行近似的膨化组件的方法
CN108846884A (zh) * 2018-05-29 2018-11-20 电子科技大学 一种三维动画算法的自适应权重设置方法
US11631209B2 (en) 2020-07-24 2023-04-18 Kitestring, Inc. Systems and methods for computer animation using an order of operations deformation engine
US11948240B2 (en) 2020-07-24 2024-04-02 O3 Story Technologies, Inc. Systems and methods for computer animation using an order of operations deformation engine
CN115618155A (zh) * 2022-12-20 2023-01-17 成都泰盟软件有限公司 一种生成动画的方法、装置、计算机设备及存储介质
CN115618155B (zh) * 2022-12-20 2023-03-10 成都泰盟软件有限公司 一种生成动画的方法、装置、计算机设备及存储介质

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US5877778A (en) 1999-03-02
JP3579148B2 (ja) 2004-10-20
JPH08212373A (ja) 1996-08-20

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